Abstract: This paper attempts to explain response components of Electrovestibulography (EVestG) using a computer simulation of a three-canal model of the vestibular system. EVestG is a potentially new diagnostic method for Meniere's disease. EVestG is a variant of Electrocochleography (ECOG), which has been used as a standard method for diagnosing Meniere's disease - it can be used to measure the SP/AP ratio, where an SP/AP ratio greater than 0.4-0.5 is indicative of Meniere-s Disease. In EVestG, an applied head tilt replaces the acoustic stimulus of ECOG. The EVestG output is also an SP/AP type plot, where SP is the summing potential, and AP is the action potential amplitude. AP is thought of as being proportional to the size of a population of afferents in an excitatory neural firing state. A simulation of the fluid volume displacement in the vestibular labyrinth in response to various types of head tilts (ipsilateral, backwards and horizontal rotation) was performed, and a simple neural model based on these simulations developed. The simple neural model shows that the change in firing rate of the utricle is much larger in magnitude than the change in firing rates of all three semi-circular canals following a head tilt (except in a horizontal rotation). The data suggests that the change in utricular firing rate is a minimum 2-3 orders of magnitude larger than changes in firing rates of the canals during ipsilateral/backward tilts. Based on these results, the neural response recorded by the electrode in our EVestG recordings is expected to be dominated by the utricle in ipsilateral/backward tilts (It is important to note that the effect of the saccule and efferent signals were not taken into account in this model). If the utricle response dominates the EVestG recordings as the modeling results suggest, then EVestG has the potential to diagnose utricular hair cell damage due to a viral infection (which has been cited as one possible cause of Meniere's Disease).
Abstract: A automatic human tracking system using mobile
agent technology is realized because a mobile agent moves in
accordance with a migration of a target person. In this paper, we
propose a method for determining the neighbor node in consideration
of the imaging range of cameras.
Abstract: This paper presents a generalized form of the
mechanistic deconvolution technique (GMD) to modeling image sensors applicable in various pan–tilt planes of view. The mechanistic deconvolution technique (UMD) is modified with the
given angles of a pan–tilt plane of view to formulate constraint parameters and characterize distortion effects, and thereby, determine
the corrected image data. This, as a result, does not require experimental setup or calibration. Due to the mechanistic nature of
the sensor model, the necessity for the sensor image plane to be
orthogonal to its z-axis is eliminated, and it reduces the dependency on image data. An experiment was constructed to evaluate the
accuracy of a model created by GMD and its insensitivity to changes in sensor properties and in pan and tilt angles. This was compared
with a pre-calibrated model and a model created by UMD using two sensors with different specifications. It achieved similar accuracy
with one-seventh the number of iterations and attained lower mean error by a factor of 2.4 when compared to the pre-calibrated and
UMD model respectively. The model has also shown itself to be robust and, in comparison to pre-calibrated and UMD model, improved the accuracy significantly.
Abstract: This project relates to a two-wheeled self balancing
robot for transferring loads on different locations along a path. This
robot specifically functions as a dual mode navigation to navigate
efficiently along a desired path. First, as a plurality of distance
sensors mounted at both sides of the body for collecting information
on tilt angle of the body and second, as a plurality of speed sensors
mounted at the bottom of the body for collecting information of the
velocity of the body in relative to the ground. A microcontroller for
processing information collected from the sensors and configured to
set the path and to balance the body automatically while a processor
operatively coupled to the microcontroller and configured to compute
change of the tilt and velocity of the body. A direct current motor
operatively coupled to the microcontroller for controlling the wheels
and characterized in that a remote control is operatively coupled to
the microcontroller to operate the robot in dual navigation modes.
Abstract: We propose a control design scheme that aims to
prevent undesirable liquid outpouring and suppress sloshing during
the forward and backward tilting phases of the pouring process, for
the case of liquid containers carried by manipulators. The proposed
scheme combines a partial inverse dynamics controller with a PID
controller, tuned with the use of a “metaheuristic" search algorithm.
The “metaheuristic" search algorithm tunes the PID controller based
on simulation results of the plant-s linearization around the operating
point corresponding to the critical tilting angle, where outpouring
initiates. Liquid motion is modeled using the well-known pendulumtype
model. However, the proposed controller does not require
measurements of the liquid-s motion within the tank.
Abstract: A new, rapidly convergent, numerical procedure for
internal loading distribution computation in statically loaded, singlerow,
angular-contact ball bearings, subjected to a known combined
radial and thrust load, which must be applied so that to avoid tilting
between inner and outer rings, is used to find the load distribution
differences between a loaded unfitted bearing at room temperature,
and the same loaded bearing with interference fits that might
experience radial temperature gradients between inner and outer
rings. For each step of the procedure it is required the iterative
solution of Z + 2 simultaneous nonlinear equations – where Z is the
number of the balls – to yield exact solution for axial and radial
deflections, and contact angles.
Abstract: In this paper, the implementation of low power,
high throughput convolutional filters for the one dimensional
Discrete Wavelet Transform and its inverse are presented. The
analysis filters have already been used for the implementation of a
high performance DWT encoder [15] with minimum memory
requirements for the JPEG 2000 standard. This paper presents the
design techniques and the implementation of the convolutional filters
included in the JPEG2000 standard for the forward and inverse DWT
for achieving low-power operation, high performance and reduced
memory accesses. Moreover, they have the ability of performing
progressive computations so as to minimize the buffering between
the decomposition and reconstruction phases. The experimental
results illustrate the filters- low power high throughput characteristics
as well as their memory efficient operation.
Abstract: This paper proposes an alternative control mechanism
for an interactive Pan/Tilt/Zoom (PTZ) camera control system.
Instead of using a mouse or a joystick, the proposed mechanism
utilizes a Nintendo Wii remote and infrared (IR) sensor bar. The Wii
remote has buttons that allows the user to control the movement of a
PTZ camera through Bluetooth connectivity. In addition, the Wii
remote has a built-in motion sensor that allows the user to give
control signals to the PTZ camera through pitch and roll movement.
A stationary IR sensor bar, placed at some distance away opposite the
Wii remote, enables the detection of yaw movement. In addition, the
Wii remote-s built-in IR camera has the ability to detect its spatial
position, and thus generates a control signal when the user moves the
Wii remote. Some experiments are carried out and their performances
are compared with an industry-standard PTZ joystick.
Abstract: Experimental investigation has been carried out
towards understanding the complex fluid dynamics involved in the
interaction of vortical structures with zero pressure gradient boundary
layer. A laminar boundary layer is produced on the flat plate placed
in the water flume and the synthetic jet actuator is deployed on top of
the plate at a definite distance from the leading edge. The synthetic
jet actuator has been designed in such a way that the to and fro
motion of the diaphragm is maneuvered at will by varying the
operating parameters to produce the typical streamwise vortical
structures namely hairpin and tilted vortices. PIV measurements are
made on the streamwise plane normal to the plate to evaluate their
interaction with the near wall fluid.
Abstract: In recent years, we see an increase of interest for efficient tracking systems in surveillance applications. Many of the proposed techniques are designed for static cameras environments. When the camera is moving, tracking moving objects become more difficult and many techniques fail to detect and track the desired targets. The problem becomes more complex when we want to track a specific object in real-time using a moving Pan and Tilt camera system to keep the target within the image. This type of tracking is of high importance in surveillance applications. When a target is detected at a certain zone, the possibility of automatically tracking it continuously and keeping it within the image until action is taken is very important for security personnel working in very sensitive sites. This work presents a real-time tracking system permitting the detection and continuous tracking of targets using a Pan and Tilt camera platform. A novel and efficient approach for dealing with occlusions is presented. Also a new intelligent forget factor is introduced in order to take into account target shape variations and avoid learning non desired objects. Tests conducted in outdoor operational scenarios show the efficiency and robustness of the proposed approach.
Abstract: This paper presents a complete procedure for tool path
planning and blade machining in 5-axis manufacturing. The actual
cutting contact and cutter locations can be determined by lead and tilt
angles. The tool path generation is implemented by piecewise curved
approximation and chordal deviation detection. An application about
drive surface method promotes flexibility of tool control and stability
of machine motion. A real manufacturing process is proposed to
separate the operation into three regions with five stages and to modify
the local tool orientation with an interactive algorithm.
Abstract: Sensory input plays an important role to human
posture control system to initiate strategy in order to counterpart any
unbalance condition and thus, prevent fall. In previous study, joint
stiffness was observed able to describe certain issues regarding to
movement performance. But, correlation between balance ability and
joint stiffness is still remains unknown. In this study, joint stiffening
strategy at ankle and hip were observed under different sensory
manipulations and its correlation with conventional clinical test
(Functional Reach Test) for balance ability was investigated. In order
to create unstable condition, two different surface perturbations (tilt
up-tilt (TT) down and forward-backward (FB)) at four different
frequencies (0.2, 0.4, 0.6 and 0.8 Hz) were introduced. Furthermore,
four different sensory manipulation conditions (include vision and
vestibular system) were applied to the subject and they were asked to
maintain their position as possible. The results suggested that joint
stiffness were high during difficult balance situation. Less balance
people generated high average joint stiffness compared to balance
people. Besides, adaptation of posture control system under repetitive
external perturbation also suggested less during sensory limited
condition. Overall, analysis of joint stiffening response possible to
predict unbalance situation faced by human
Abstract: The objective of this study is to investigate fire
behaviors, experimentally and numerically, in a scaled version of an
underground station. The effect of ventilation velocity on the fire is
examined. Fire experiments are simulated by burning 10 ml
isopropyl alcohol fuel in a fire pool with dimensions 5cm x 10cm x 4
mm at the center of 1/100 scaled underground station model. A
commercial CFD program FLUENT was used in numerical
simulations. For air flow simulations, k-ω SST turbulence model and
for combustion simulation, non-premixed combustion model are
used. This study showed that, the ventilation velocity is increased
from 1 m/s to 3 m/s the maximum temperature in the station is found
to be less for ventilation velocity of 1 m/s. The reason for these
experimental result lies on the relative dominance of oxygen supply
effect on cooling effect. Without piston effect, maximum temperature
occurs above the fuel pool. However, when the ventilation velocity
increased the flame was tilted in the direction of ventilation and the
location of maximum temperature moves along the flow direction.
The velocities measured experimentally in the station at different
locations are well matched by the CFD simulation results. The
prediction of general flow pattern is satisfactory with the smoke
visualization tests. The backlayering in velocity is well predicted by
CFD simulation. However, all over the station, the CFD simulations
predicted higher temperatures compared to experimental
measurements.
Abstract: Heating is inevitable in any bearing operation. This
leads to not only the thinning of the lubricant but also could lead to a
thermal deformation of the bearing. The present work is an attempt to
analyze the influence of thermal deformation on the thermohydrodynamic
lubrication of infinitely long tilted pad slider rough
bearings. As a consequence of heating the slider is deformed and is
assumed to take a parabolic shape. Also the asperities expand leading
to smaller effective film thickness. Two different types of surface
roughness are considered: longitudinal roughness and transverse
roughness. Christensen-s stochastic approach is used to derive the
Reynolds-type equations. Density and viscosity are considered to be
temperature dependent. The modified Reynolds equation, momentum
equation, continuity equation and energy equation are decoupled and
solved using finite difference method to yield various bearing
characteristics. From the numerical simulations it is observed that the
performance of the bearing is significantly affected by the thermal
distortion of the slider and asperities and even the parallel sliders
seem to carry some load.
Abstract: For high-speed control of robots, a good knowledge of system modelling is necessary to obtain the desired bandwidth. In this paper, we present a cartesian robot with a pan/tilt unit in end-effector (5 dof). This robot is implemented with powerful direct drive AC induction machines. The dynamic model, parameter identification and model validation of the robot are studied (including actuators). This work considers the cartesian robot coupled and non linear (contrary to normal considerations for this type of robots). The mechanical and control architecture proposed in this paper is efficient for industrial and research application in which high speed, well known model and very high accuracy are required.
Abstract: Falls are the primary cause of accidents in people over
the age of 65, and frequently lead to serious injuries. Since the early
detection of falls is an important step to alert and protect the aging
population, a variety of research on detecting falls was carried out
including the use of accelerators, gyroscopes and tilt sensors. In
exiting studies, falls were detected using an accelerometer with
errors. In this study, the proposed method for detecting falls was to
use two accelerometers to reject wrong falls detection. As falls are
accompanied by the acceleration of gravity and rotational motion, the
falls in this study were detected by using the z-axial acceleration
differences between two sites. The falls were detected by calculating
the difference between the analyses of accelerometers placed on two
different positions on the chest of the subject. The parameters of the
maximum difference of accelerations (diff_Z) and the integration of
accelerations in a defined region (Sum_diff_Z) were used to form the
fall detection algorithm. The falls and the activities of daily living
(ADL) could be distinguished by using the proposed parameters
without errors in spite of the impact and the change in the positions
of the accelerometers. By comparing each of the axial accelerations,
the directions of falls and the condition of the subject afterwards
could be determined.In this study, by using two accelerometers
without errors attached to two sites to detect falls, the usefulness of
the proposed fall detection algorithm parameters, diff_Z and
Sum_diff_Z, were confirmed.
Abstract: Solidification cracking and hydrogen cracking are some defects generated in the fusion welding of ultrahigh carbon steels. However, friction stir welding (FSW) of such steels, being a solid-state technique, has been demonstrated to alleviate such problems encountered in traditional welding. FSW include different process parameters that must be carefully defined prior processing. These parameters included but not restricted to: tool feed, tool RPM, tool geometry, tool tilt angle. These parameters form a key factor behind avoiding warm holes and voids behind the tool and in achieving a defect-free weld. More importantly, these parameters directly affect the microstructure of the weld and hence the final mechanical properties of weld. For that, 3D finite element (FE) thermo-mechanical model was developed using DEFORM 3D to simulate FSW of carbon steel. At points of interest in the joint, tracking is done for history of critical state variables such as temperature, stresses, and strain rates. Typical results found include the ability to simulate different weld zones. Simulations predictions were successfully compared to experimental FSW tests. It is believed that such a numerical model can be used to optimize FSW processing parameters to favor desirable defect free weld with better mechanical properties.
Abstract: Beam and diffuse radiation data are extracted analytically from previous measured data on a horizontal surface in Zarqa city. Moreover, radiation data on a tilted surfaces with different slopes have been derived and analyzed. These data are consisting of of beam contribution, diffuse contribution, and ground reflected contribution radiation. Hourly radiation data for horizontal surface possess the highest radiation values on June, and then the values decay as the slope increases and the sharp decreasing happened for vertical surface. The beam radiation on a horizontal surface owns the highest values comparing to diffuse radiation for all days of June. The total daily radiation on the tilted surface decreases with slopes. The beam radiation data also decays with slopes especially for vertical surface. Diffuse radiation slightly decreases with slopes with sharp decreases for vertical surface. The groundreflected radiation grows with slopes especially for vertical surface. It-s clear that in June the highest harvesting of solar energy occurred for horizontal surface, then the harvesting decreases as the slope increases.
Abstract: Rotating stages in semiconductor, display industry and many other fields require challenging accuracy to perform their functions properly. Especially, Axis of rotation error on rotary system is significant; such as the spindle error motion of the aligner, wire bonder and inspector machine which result in the poor state of manufactured goods. To evaluate and improve the performance of such precision rotary stage, unessential movements on the other 5 degrees of freedom of the rotary stage must be measured and analyzed. In this paper, we have measured the three translations and two tilt motions of a rotating stage with high precision capacitive sensors. To obtain the radial error motion from T.I.R (Total Indicated Reading) of radial direction, we have used Donaldson's reversal technique. And the axial components of the spindle tilt error motion can be obtained accurately from the axial direction outputs of sensors by Estler face motion reversal technique. Further more we have defined and measured the sensitivity of positioning error to the five error motions.
Abstract: We present our ongoing work on the development
of a new quadrotor aerial vehicle which has a tilt-wing
mechanism. The vehicle is capable of take-off/landing in vertical flight mode (VTOL) and flying over long distances in horizontal flight mode. Full dynamic model of the vehicle is derived using
Newton-Euler formulation. Linear and nonlinear controllers for
the stabilization of attitude of the vehicle and control of its
altitude have been designed and implemented via simulations. In particular, an LQR controller has been shown to be quite
effective in the vertical flight mode for all possible yaw angles. A sliding mode controller (SMC) with recursive nature has also
been proposed to stabilize the vehicle-s attitude and altitude. Simulation results show that proposed controllers provide
satisfactory performance in achieving desired maneuvers.